Check patentability & draft patents in minutes with Patsnap Eureka AI!

Non-standard connection towing type mobile robot direction angle control method and system

A technology of mobile robots and control methods, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as singularity and instability of structures, difficult control problems, etc., achieve remarkable beneficial effects, be suitable for application and promotion, and improve accuracy Effect

Active Publication Date: 2020-02-28
UNIV OF JINAN
View PDF5 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The inventors of the present disclosure found that there are relatively few researches on trailer-type mobile robots with non-standard connections. , structure singularity and instability during reverse motion, the problem of reverse motion control of a mobile robot with a towed robot is relatively difficult

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Non-standard connection towing type mobile robot direction angle control method and system
  • Non-standard connection towing type mobile robot direction angle control method and system
  • Non-standard connection towing type mobile robot direction angle control method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] Embodiment 1 of the present disclosure provides a non-standard connection trailer-type mobile robot direction angle control method. The trailer-type mobile robot described in this embodiment is composed of a traction robot and a non-standard connection trailer-type robot. Such as figure 1 shown.

[0056] The traction robot is driven by turning the front wheels to the rear wheels, and the front wheel steering angle of the traction robot is set to be The linear velocity of the rear wheel is v. define when When the front wheels turn to the left, when When the front wheels turn to the right; the trailer-type robot is connected to the front traction robot through the axle, and the wheelbase of the traction robot is set as L 1 , the connecting rod length of the towed robot is L t , the body length of the towed robot is L 2 . P i (x i ,y i )(i=1, 2) are the coordinates of the center point of the rear axis of the towed robot and the towed robot, which are used to d...

Embodiment 2

[0118] Embodiment 2 of the present disclosure provides a non-standard connected trailer-type mobile robot orientation angle control system, including a tractor robot and a trailer-type robot, and also includes:

[0119] The data acquisition module is configured to: collect the parameters of the traction robot and the towed robot in real time;

[0120] The control law building block is configured to: obtain the steering angle control law of the traction robot related to the current angle and the expected direction angle of the traction robot and the traction robot according to the obtained parameters of the traction robot and the traction robot;

[0121] The motion control module is configured to: pull the robot to move according to the set steering angle, and drag the towed robot to perform a smooth reverse movement according to the desired direction angle;

[0122] Wherein, the steering angle control law is specifically:

[0123]

[0124] Among them, γ 1 is the angle bet...

Embodiment 3

[0126] Embodiment 3 of the present disclosure provides a readable storage medium on which a program is stored. When the program is executed by a processor, the method for controlling the orientation angle of a non-standard connected towed mobile robot as described in Embodiment 1 of the present disclosure is implemented. A step of.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a non-standard connection towing type mobile robot direction angle control method and system. According to obtained parameters of a pull robot and a towing type robot, a pull robot steering angle control law related to the current included angle and expected direction angle of the towing type robot and the pull robot is obtained, and the pull robot moves according to the setsteering angle to pull the towing type robot to reversely move stably according to the expected direction angle. The non-standard connection towing type mobile robot direction angle control method and system solve the problem of direction tracking control of the non-standard connection towing type mobile robot, provides theoretical guidance for reverse motion control of the non-standard connection towing type mobile robot, has obvious beneficial effects and is suitable for application and popularization.

Description

technical field [0001] The present disclosure relates to the technical field of robot direction angle control, and in particular to a method and system for controlling the direction angle of a non-standard connected towed mobile robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] The trailer-type mobile robot is composed of a tractor at the forefront and multiple passive trailers dragged by it. The tractor performs steering and driving functions, and the trailer follows the tractor. sports. On the one hand, the trailer-type mobile robot has the motion ability of the mobile robot, and on the other hand, it can expand other functions of the mobile robot. Trailer-type mobile robots have high application value. At present, the research objects of trailer-type mobile robots are mainly indoor service robots, such as cleaning robots, resc...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 程金赵钦君徐元王中华
Owner UNIV OF JINAN
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com